轮边驱动电动车的转矩协调控制方法

Torque coordination control strategy of in-wheel drive electric vehicle

为了解决轮边驱动电动汽车由于控制自由度冗余易造成的操纵稳定性降低的问题,基于逻辑门限值理论设计了一种使车辆能适应转向行驶及直线行驶的驱动转矩协调综合控制系统.该控制系统考虑了车辆转向行驶时轴荷转移、向心力及轮胎侧偏等影响,实现车辆的转向差速控制,使车辆能够按照驾驶员的期望在理想道路轨迹上行驶;并通过对驱动电机转矩进行协调控制,消除非期望横摆力矩的影响,提高车辆在直线行驶过程中的操纵稳定性.仿真结果表明,所提出的转矩协调控制方法改善了轮边驱动电动汽车的操纵性能.

In order to solve the problems of handling stability reduction due to redundancy of con- trol freedom degree of the in-wheel drive electric vehicle, we designed a kind of integrated vehicle driving torque control system which can make electric vehicle adapt to straight-line traction and steering based on logic threshold value theory. The control system considers the effects of axle load transfer, centripetal force and tire side slip while the vehicle is moving to achieve the steering differential control, so that the vehicle can be driven on the ideal road according to drivers＇ expec- tation. And the influences of the undesired yaw moment can be eliminated to improve handling stability of vehicle in the course of straight-line traction by conducting torque coordination control over driving motor. Simulation results show that the proposed torque control method can improve the control performance of in-wheel drive electric vehicle.